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A novel fitting algorithm using the ICP and the particle filters for robust 3d human body motion tracking

Published: 31 October 2008 Publication History

Abstract

This paper proposes a novel fitting algorithm using the iterative closest point (ICP) registration algorithm and the particle filters for robust 3D human body motion tracking. We use the ICP registration algorithm that fits the 3D human body model to the 3D articulation data in a hierarchical manner. However, it often can not fit under the rapidly moving human body motion. To solve this problem, we combine the modified particle filter with the ICP algorithm. It can search the most appropriate motion parameters by using the observation model based on the surface normal vector and the binary valued function and the state transitional model based on the motion history information. Experimental results show that the proposed combined fitting algorithm provides accurate fitting performance and high convergence rate.

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Cited By

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  • (2016)Real time motion estimation using a neural architecture implemented on GPUsJournal of Real-Time Image Processing10.1007/s11554-014-0417-y11:4(731-749)Online publication date: 1-Apr-2016
  • (2010)Laser Scanner-based End-effector Tracking and Joint Variable Extraction for Heavy MachineryInternational Journal of Robotics Research10.1177/027836490935931629:10(1338-1352)Online publication date: 1-Sep-2010

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  1. A novel fitting algorithm using the ICP and the particle filters for robust 3d human body motion tracking

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        cover image ACM Conferences
        VNBA '08: Proceedings of the 1st ACM workshop on Vision networks for behavior analysis
        October 2008
        116 pages
        ISBN:9781605583136
        DOI:10.1145/1461893
        Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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        Published: 31 October 2008

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        Author Tags

        1. human body motion tracking
        2. icp
        3. particle filter

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        October 31, 2008
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        • (2016)Real time motion estimation using a neural architecture implemented on GPUsJournal of Real-Time Image Processing10.1007/s11554-014-0417-y11:4(731-749)Online publication date: 1-Apr-2016
        • (2010)Laser Scanner-based End-effector Tracking and Joint Variable Extraction for Heavy MachineryInternational Journal of Robotics Research10.1177/027836490935931629:10(1338-1352)Online publication date: 1-Sep-2010

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